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GOODWILL, IPR&D AND OTHER INTANGIBLES (Details Narrative) - USD ($)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Finite-Lived Intangible Assets [Line Items]    
Goodwill, Impairment Loss $ 4,239,000
Impairment of Intangible Assets, Finite-Lived   0
Accumulated amortization 752,237 726,749
Future estimated amortization of license costs 2023 18,000  
Future estimated amortization of patent costs Year 2024 15,000  
Future estimated amortization of patent costs Year 2025 14,000  
Future estimated amortization of patent costs Year 2026 14,000  
Future estimated amortization of patent costs Year 2027 14,000  
Future estimated amortization of patent costs thereafter 65,000  
Patents [Member]    
Finite-Lived Intangible Assets [Line Items]    
Finite lived intangible assets gross 140,000 159,000
Accumulated amortization 339,000 320,000
Licenses charged 18,000 17,000
License [Member]    
Finite-Lived Intangible Assets [Line Items]    
Finite lived intangible assets gross 5,000 12,000
Accumulated amortization 414,000 407,000
Licenses charged 7,000 $ 7,000
Future estimated amortization of license costs 2023 $ 5,000